离心式负载力矩模拟器控制系统设计

发布时间：2019-04-15 20:24

【摘要】：负载力矩模拟器是在实验室条件下将飞行器在空中飞行时舵面的受力情况复现出来,对舵机角位置伺服系统的实际工作性能进行测试的地面半实物仿真设备。负载力矩模拟器经历了由机械式到电液式再到电动式的发展过程。伺服电机与电力电子元件的不断发展以及电动舵机在飞行器系统中的主流地位使得电动负载力矩模拟器成为现阶段进行舵机负载力矩模拟的主要设备。然而电动负载力矩模拟器与舵机直接相连在进行加载实验时产生的多余力矩问题始终没有彻底得到解决。本文提出一种新型的无多余力矩离心式负载力矩模拟器,该系统利用离心机带动回转平台上的质量块绕离心机主轴转动,使质量块受到的离心力通过机械结构传递至舵机轴上并形成作用在舵机轴上的负载力矩。本课题是以“某型半实物仿真实验系统”中的离心式负载力矩模拟器为研究对象,以工程实践为背景,对离心式负载力矩模拟器进行机理建模、性能分析及实验研究。首先,确定了离心式负载力矩模拟器的组成,建立了系统的动力学模型并通过仿真分析作出了合理的简化;采用机理建模的方法分别建立了转速伺服系统和直线位移伺服系统的数学模型,进而得出了系统完整的状态空间模型,并基于负载力矩模拟器的数学模型对系统的负载力矩仿真原理进行了分析。其次,对离心式负载力矩模拟器的控制策略展开分析,在确定了系统整体的控制结构后,通过理论分析与仿真对系统性能指标要求进行了分解,通过系统力矩伺服指标确定了转速伺服系统与直线位移伺服系统的伺服指标,然后确定了系统控制结构中各个控制器用到的具体控制方法,阐述了选择这些控制方法的原因。接下来,对离心机转速伺服系统与直线电机位置伺服系统进行了多回路控制设计,使上述两个伺服系统满足了伺服性能要求,然后设计了系统输入输出线性化控制器并对输入输出线性化后的线性系统基于混合灵敏度优化方法设计H∞控制器,最终使得系统整体满足了力矩伺服性能要求。最后,将上述控制方案运用到实际的离心式负载力矩模拟器当中,对转速伺服系统与直线电机位置伺服系统分别进行性能验证后再对完整系统的力矩伺服性能进行进一步验证,验证了上述控制方案的合理性。
[Abstract]:The load torque simulator is a ground-based hardware-in-the-loop simulation equipment, which can test the actual performance of the rudder angle position servo system by reproducing the force condition of the rudder's rudder in the air under laboratory conditions. The load torque simulator has experienced the development from mechanical to electro-hydraulic and then to electrodynamic. With the development of servo motor and power electronic components and the main position of electric steering gear in aircraft system, the electric load torque simulator becomes the main equipment to simulate the rudder load torque at the present stage. However, the problem of redundant torque caused by the direct connection between the electric load torque simulator and the steering gear in the loading experiment has not been completely solved. A new type of centrifugal load torque simulator without redundant torque is presented in this paper. The system uses centrifuge to drive the mass block on the rotary platform to rotate around the main shaft of the centrifuge. The centrifugal force received by the mass block is transferred to the steering shaft by mechanical structure and the load torque acting on the steering shaft is formed. This paper takes the centrifugal load torque simulator in a hardware-in-the-loop simulation experiment system as the research object, and takes the engineering practice as the background, carries on the mechanism modeling, the performance analysis and the experiment research to the centrifugal load torque simulator. Firstly, the composition of centrifugal load torque simulator is determined, the dynamic model of the system is established, and the reasonable simplification is made through simulation analysis. The mathematical models of rotational speed servo system and linear displacement servo system are established by the method of mechanism modeling, and then the complete state space model of the system is obtained. Based on the mathematical model of the load torque simulator, the principle of the load moment simulation is analyzed. Secondly, the control strategy of centrifugal load torque simulator is analyzed. After determining the whole control structure of the system, the system performance requirements are decomposed by theoretical analysis and simulation. The servo indexes of the rotational speed servo system and the linear displacement servo system are determined by the torque servo index of the system. Then the specific control methods used by each controller in the control structure of the system are determined, and the reasons for selecting these control methods are expounded. Then, the multi-loop control design of centrifugal speed servo system and linear motor position servo system is carried out, which makes the above two servo systems meet the servo performance requirements. Then, the input-output linearization controller of the system is designed and the H 鈭，

本文编号：2458465